width_real = 640
height_real = 480
width_sim = 320
height_sim = 240
####REAL CAM
fx_real = 606.695
fy_real = 605.645
cx_real = 329.719
cy_real = 251.471
####SIM CAM
fx_sim = 358.642
fy_sim = 358.642
cx_sim = 160
cy_sim = 120
scale = 1

intrinsics_sim = (fx_sim, fy_sim, cx_sim, cy_sim)
# intrinsics_real = (fx_real, fy_real, cx_real, cy_real)
intrinsics_real = (fx_sim*2, fy_sim*2, cx_sim*2, cy_sim*2)